If it is a pdf, download it to print. If it still fails the problem is in how the file is created, which must have changed on their side, this could probably be fixed by switching from a PS driver to PCL or vice-versa.
If it works, it is possibly the website address getting interpreted as broken Job Ticket (java usually), to test this theory just delete the address in the address bar before choosing to print. If it works, then knowing the issue, you coudl try another driver, or get a firmware update if there are any available for the device.
We have a Xerox Workcentre 5335 with multiple people using it through a remote connection. Everyone can print fine on it except from one website. They were able to print from this website before and this issue just started a few days ago. This website is printing a PDF and the error is: Completed with error (016-573): Job ticket parse error: XML Error 1002. We can print from this website to other printers so it has to be an issue with the Xerox printer. Anyone help on this?